/*
 * RiconoscimentoPalla.h
 */


#ifndef RICONOSCIMENTOPALLA_H_
#define RICONOSCIMENTOPALLA_H_

#include <libfreenect.hpp>
#include <iostream>
#include <vector>
#include <cmath>
#include <math.h>
#include <pthread.h>
#include <opencv/cv.h>
#include <opencv2/opencv.hpp>
#include <opencv/cxcore.h>
#include <opencv/highgui.h>

#define MIN_AREA_PALLA 1000
#define MIN_H_PALLA 0
#define SUP_H_PALLA 13
#define MIN_S_PALLA 154
#define SUP_S_PALLA 255
#define MIN_V_PALLA 31
#define SUP_V_PALLA 255

using namespace cv;
using namespace std;
class RiconoscimentoPalla {


public:
    RiconoscimentoPalla();
    ~RiconoscimentoPalla();
    Point riconoscimento_palla(Mat rgbMat,Mat img_palla_filt2);
	unsigned short calcoloProfonditaPalla(Mat rgbMat, Mat depthMat,Point centroPalla);
	double calcoloAngoloPalla(Mat rgbMat, CvPoint centroPalla);

};

#endif
